Upload exp_cfg.yaml
Browse files
checkpoints/COLOSSEUM/exp_cfg.yaml
ADDED
|
@@ -0,0 +1,32 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
agent: our
|
| 2 |
+
bs: 4
|
| 3 |
+
epochs: 100
|
| 4 |
+
exp_id: 3d_aligner
|
| 5 |
+
num_workers: 3
|
| 6 |
+
peract:
|
| 7 |
+
add_rgc_loss: true
|
| 8 |
+
lambda_weight_l2: 0.0001
|
| 9 |
+
lr: 8.0e-05
|
| 10 |
+
num_rotation_classes: 72
|
| 11 |
+
optimizer_type: adam
|
| 12 |
+
transform_augmentation: true
|
| 13 |
+
transform_augmentation_rpy:
|
| 14 |
+
- 0.0
|
| 15 |
+
- 0.0
|
| 16 |
+
- 45.0
|
| 17 |
+
transform_augmentation_xyz:
|
| 18 |
+
- 0.125
|
| 19 |
+
- 0.125
|
| 20 |
+
- 0.125
|
| 21 |
+
peract_official:
|
| 22 |
+
cfg_path: configs/peract_official_config.yaml
|
| 23 |
+
rvt:
|
| 24 |
+
gt_hm_sigma: 1.5
|
| 25 |
+
img_aug: 0.0
|
| 26 |
+
move_pc_in_bound: true
|
| 27 |
+
place_with_mean: false
|
| 28 |
+
sample_distribution_mode: task_uniform
|
| 29 |
+
tasks: all
|
| 30 |
+
train_iter: 160000
|
| 31 |
+
use_scheduler: false
|
| 32 |
+
|